2025-02-06T18:37:02.952Z,1738867022.952 [Supervisor](DEBUG): Initializing supervisor.
2025-02-06T18:37:02.957Z,1738867022.957 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-02-06T18:37:02.957Z,1738867022.957 [SyncHandler](INFO): Protected caller Thread ID is 845
2025-02-06T18:37:02.958Z,1738867022.958 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-02-06T18:37:02.959Z,1738867022.959 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-02-06T18:37:02.959Z,1738867022.959 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 846
2025-02-06T18:37:02.963Z,1738867022.963 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-02-06T18:37:02.980Z,1738867022.980 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-02-06T18:37:02.981Z,1738867022.981 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-02-06T18:37:02.982Z,1738867022.982 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 847
2025-02-06T18:37:02.986Z,1738867022.986 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-02-06T18:37:02.987Z,1738867022.987 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-02-06T18:37:02.987Z,1738867022.987 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 848
2025-02-06T18:37:02.989Z,1738867022.989 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-02-06T18:37:02.990Z,1738867022.990 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-02-06T18:37:02.990Z,1738867022.990 [logger ThreadHandler](INFO): Protected caller Thread ID is 849
2025-02-06T18:37:02.994Z,1738867022.994 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-02-06T18:37:02.994Z,1738867022.994 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-02-06T18:37:02.999Z,1738867022.999 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-02-06T18:37:03.243Z,1738867023.243 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-02-06T18:37:03.245Z,1738867023.245 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-02-06T18:37:03.468Z,1738867023.468 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-02-06T18:37:03.470Z,1738867023.470 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-02-06T18:37:03.576Z,1738867023.576 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-02-06T18:37:03.577Z,1738867023.577 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-02-06T18:37:03.774Z,1738867023.774 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-02-06T18:37:03.776Z,1738867023.776 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-02-06T18:37:04.288Z,1738867024.288 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-02-06T18:37:04.290Z,1738867024.290 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-02-06T18:37:04.409Z,1738867024.409 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-02-06T18:37:04.411Z,1738867024.411 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-02-06T18:37:04.697Z,1738867024.697 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-02-06T18:37:04.699Z,1738867024.699 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-02-06T18:37:04.924Z,1738867024.924 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-02-06T18:37:04.925Z,1738867024.925 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-02-06T18:37:05.482Z,1738867025.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-02-06T18:37:05.483Z,1738867025.483 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-02-06T18:37:05.918Z,1738867025.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-02-06T18:37:05.918Z,1738867025.918 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-02-06T18:37:06.009Z,1738867026.009 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-02-06T18:37:06.399Z,1738867026.399 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-02-06T18:37:06.400Z,1738867026.400 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-02-06T18:37:07.441Z,1738867027.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-02-06T18:37:07.442Z,1738867027.442 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-02-06T18:37:17.560Z,1738867037.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-02-06T18:37:17.561Z,1738867037.561 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-02-06T18:37:17.931Z,1738867037.931 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-02-06T18:37:17.933Z,1738867037.933 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-02-06T18:37:18.026Z,1738867038.026 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-02-06T18:37:18.028Z,1738867038.028 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-02-06T18:37:18.122Z,1738867038.122 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-02-06T18:37:18.239Z,1738867038.239 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-02-06T18:37:18.354Z,1738867038.354 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-02-06T18:37:18.453Z,1738867038.453 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-02-06T18:37:18.549Z,1738867038.549 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-02-06T18:37:18.663Z,1738867038.663 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-02-06T18:37:18.818Z,1738867038.818 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-02-06T18:37:18.998Z,1738867038.998 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-02-06T18:37:19.103Z,1738867039.103 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-02-06T18:37:19.382Z,1738867039.382 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-02-06T18:37:19.383Z,1738867039.383 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-02-06T18:37:19.398Z,1738867039.398 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-02-06T18:37:19.826Z,1738867039.826 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-02-06T18:37:19.828Z,1738867039.828 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-02-06T18:37:20.669Z,1738867040.669 [AHRS_M2] Loaded
2025-02-06T18:37:20.669Z,1738867040.669 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-02-06T18:37:20.923Z,1738867040.923 [BackseatComponent] Loaded
2025-02-06T18:37:20.923Z,1738867040.923 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-02-06T18:37:20.924Z,1738867040.924 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408AB4E0
2025-02-06T18:37:20.924Z,1738867040.924 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 928
2025-02-06T18:37:20.927Z,1738867040.927 [LcmUniversalReporter] Loaded
2025-02-06T18:37:20.928Z,1738867040.928 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-02-06T18:37:20.934Z,1738867040.934 [BioacousticsDataBridge] Loaded
2025-02-06T18:37:20.934Z,1738867040.934 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread.
2025-02-06T18:37:21.744Z,1738867041.744 [BPC1] Loaded
2025-02-06T18:37:21.744Z,1738867041.744 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-02-06T18:37:21.886Z,1738867041.886 [DataOverHttps] Loaded
2025-02-06T18:37:21.887Z,1738867041.887 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-02-06T18:37:21.888Z,1738867041.888 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408DB4E0
2025-02-06T18:37:21.888Z,1738867041.888 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 929
2025-02-06T18:37:21.911Z,1738867041.911 [Depth_Keller] Loaded
2025-02-06T18:37:21.911Z,1738867041.911 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-02-06T18:37:21.916Z,1738867041.916 [DropWeight] Loaded
2025-02-06T18:37:21.916Z,1738867041.916 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-02-06T18:37:21.980Z,1738867041.980 [NAL9602] Loaded
2025-02-06T18:37:21.980Z,1738867041.980 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-02-06T18:37:22.009Z,1738867042.009 [Onboard] Loaded
2025-02-06T18:37:22.010Z,1738867042.010 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-02-06T18:37:22.011Z,1738867042.011 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4090B4E0
2025-02-06T18:37:22.011Z,1738867042.011 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 930
2025-02-06T18:37:22.025Z,1738867042.025 [Power24vConverter] Loaded
2025-02-06T18:37:22.025Z,1738867042.025 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-02-06T18:37:22.042Z,1738867042.042 [Radio_Surface] Loaded
2025-02-06T18:37:22.042Z,1738867042.042 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-02-06T18:37:22.043Z,1738867042.043 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4093B4E0
2025-02-06T18:37:22.044Z,1738867042.044 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 931
2025-02-06T18:37:22.059Z,1738867042.059 [Sonardyne_Nano] Loaded
2025-02-06T18:37:22.059Z,1738867042.059 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-02-06T18:37:22.060Z,1738867042.060 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-02-06T18:37:22.060Z,1738867042.060 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-02-06T18:37:22.234Z,1738867042.234 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-02-06T18:37:22.234Z,1738867042.234 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-02-06T18:37:22.307Z,1738867042.307 [VerticalControl](DEBUG): Construct VerticalControl.
2025-02-06T18:37:22.367Z,1738867042.367 [VerticalControl] Loaded
2025-02-06T18:37:22.368Z,1738867042.368 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-02-06T18:37:22.370Z,1738867042.370 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-02-06T18:37:22.418Z,1738867042.418 [HorizontalControl] Loaded
2025-02-06T18:37:22.419Z,1738867042.419 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-02-06T18:37:22.421Z,1738867042.421 [SpeedControl](DEBUG): Construct SpeedControl.
2025-02-06T18:37:22.424Z,1738867042.424 [SpeedControl] Loaded
2025-02-06T18:37:22.424Z,1738867042.424 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-02-06T18:37:22.427Z,1738867042.427 [LoopControl](DEBUG): Construct LoopControl.
2025-02-06T18:37:22.428Z,1738867042.428 [LoopControl] Loaded
2025-02-06T18:37:22.428Z,1738867042.428 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-02-06T18:37:22.428Z,1738867042.428 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-02-06T18:37:22.429Z,1738867042.429 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-02-06T18:37:22.477Z,1738867042.477 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-02-06T18:37:22.478Z,1738867042.478 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-02-06T18:37:25.734Z,1738867045.734 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-02-06T18:37:25.735Z,1738867045.735 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-02-06T18:37:25.877Z,1738867045.877 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-02-06T18:37:25.877Z,1738867045.877 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-02-06T18:37:25.891Z,1738867045.891 [NavChart] Loaded
2025-02-06T18:37:25.891Z,1738867045.891 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-02-06T18:37:25.897Z,1738867045.897 [UniversalFixResidualReporter] Loaded
2025-02-06T18:37:25.897Z,1738867045.897 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-02-06T18:37:25.898Z,1738867045.898 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-02-06T18:37:25.898Z,1738867045.898 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-02-06T18:37:26.121Z,1738867046.121 [SBIT](DEBUG): Construct Startup Built In Test.
2025-02-06T18:37:26.131Z,1738867046.131 [SBIT] Loaded
2025-02-06T18:37:26.131Z,1738867046.131 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-02-06T18:37:26.134Z,1738867046.134 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-02-06T18:37:26.146Z,1738867046.146 [IBIT] Loaded
2025-02-06T18:37:26.147Z,1738867046.147 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-02-06T18:37:26.153Z,1738867046.153 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-02-06T18:37:26.257Z,1738867046.257 [CBIT] Loaded
2025-02-06T18:37:26.257Z,1738867046.257 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-02-06T18:37:26.257Z,1738867046.257 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-02-06T18:37:26.259Z,1738867046.259 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-02-06T18:37:26.483Z,1738867046.483 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-02-06T18:37:26.483Z,1738867046.483 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-02-06T18:37:26.655Z,1738867046.655 [BuoyancyServo] Loaded
2025-02-06T18:37:26.655Z,1738867046.655 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-02-06T18:37:26.675Z,1738867046.675 [ElevatorServo] Loaded
2025-02-06T18:37:26.676Z,1738867046.676 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-02-06T18:37:26.698Z,1738867046.698 [MassServo] Loaded
2025-02-06T18:37:26.698Z,1738867046.698 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-02-06T18:37:26.718Z,1738867046.718 [RudderServo] Loaded
2025-02-06T18:37:26.719Z,1738867046.719 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-02-06T18:37:26.736Z,1738867046.736 [ThrusterHE] Loaded
2025-02-06T18:37:26.736Z,1738867046.736 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-02-06T18:37:26.736Z,1738867046.736 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-02-06T18:37:26.737Z,1738867046.737 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-02-06T18:37:26.969Z,1738867046.969 [CTD_Seabird] Loaded
2025-02-06T18:37:26.969Z,1738867046.969 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-02-06T18:37:26.970Z,1738867046.970 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40B6C4E0
2025-02-06T18:37:26.971Z,1738867046.971 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 933
2025-02-06T18:37:26.993Z,1738867046.993 [PAR_Licor] Loaded
2025-02-06T18:37:26.994Z,1738867046.994 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-02-06T18:37:27.039Z,1738867047.039 [WetLabsBB2FL] Loaded
2025-02-06T18:37:27.039Z,1738867047.039 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-02-06T18:37:27.040Z,1738867047.040 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40B9C4E0
2025-02-06T18:37:27.040Z,1738867047.040 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 934
2025-02-06T18:37:27.041Z,1738867047.041 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-02-06T18:37:27.042Z,1738867047.042 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-02-06T18:37:27.114Z,1738867047.114 [DepthRateCalculator] Loaded
2025-02-06T18:37:27.115Z,1738867047.115 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-02-06T18:37:27.120Z,1738867047.120 [PitchRateCalculator] Loaded
2025-02-06T18:37:27.120Z,1738867047.120 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-02-06T18:37:27.129Z,1738867047.129 [SpeedCalculator] Loaded
2025-02-06T18:37:27.130Z,1738867047.130 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-02-06T18:37:27.134Z,1738867047.134 [YawRateCalculator] Loaded
2025-02-06T18:37:27.134Z,1738867047.134 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-02-06T18:37:27.154Z,1738867047.154 [ElevatorOffsetCalculator] Loaded
2025-02-06T18:37:27.154Z,1738867047.154 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-02-06T18:37:27.155Z,1738867047.155 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-02-06T18:37:27.155Z,1738867047.155 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-02-06T18:37:27.244Z,1738867047.244 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-02-06T18:37:27.251Z,1738867047.251 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-02-06T18:37:27.254Z,1738867047.254 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-02-06T18:37:27.265Z,1738867047.265 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-02-06T18:37:27.266Z,1738867047.266 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C294E0
2025-02-06T18:37:27.266Z,1738867047.266 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 935
2025-02-06T18:37:27.271Z,1738867047.271 [Supervisor](INFO): Main Thread ID is 836
2025-02-06T18:37:27.271Z,1738867047.271 [Supervisor](DEBUG): Running supervisor.
2025-02-06T18:37:27.272Z,1738867047.272 [CommandExec ThreadHandler](INFO): Handler Thread ID is 936
2025-02-06T18:37:27.272Z,1738867047.272 [CommandExec](INFO): Initializing the command executive.
2025-02-06T18:37:27.273Z,1738867047.273 [CommandLine ThreadHandler](INFO): Handler Thread ID is 937
2025-02-06T18:37:27.276Z,1738867047.276 [controlThread ThreadHandler](INFO): Handler Thread ID is 938
2025-02-06T18:37:27.276Z,1738867047.276 [controlThread](DEBUG): Initializing ControlThread
2025-02-06T18:37:27.282Z,1738867047.282 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-02-06T18:37:27.283Z,1738867047.283 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-02-06T18:37:27.284Z,1738867047.284 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-02-06T18:37:27.284Z,1738867047.284 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-02-06T18:37:27.285Z,1738867047.285 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-02-06T18:37:27.285Z,1738867047.285 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-02-06T18:37:27.286Z,1738867047.286 [SBIT](INFO): Initialize SBIT Component.
2025-02-06T18:37:27.286Z,1738867047.286 [SBIT](IMPORTANT): git: 2025-02-05-1-g5cb57f0c0
2025-02-06T18:37:27.286Z,1738867047.286 [SBIT](INFO): git hash: 5cb57f0c0fd82defa895bec40183b0f814ee32ad
2025-02-06T18:37:27.287Z,1738867047.287 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-02-06T18:37:27.288Z,1738867047.288 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Dec 4 01:17:04 UTC 2024
2025-02-06T18:37:27.289Z,1738867047.289 [SBIT](INFO): Beginning SBIT in 60.000000 seconds.
2025-02-06T18:37:27.290Z,1738867047.290 [IBIT](INFO): Initialize IBIT Component.
2025-02-06T18:37:27.291Z,1738867047.291 [CBIT](DEBUG): Initialize CBIT Component.
2025-02-06T18:37:27.292Z,1738867047.292 [logger ThreadHandler](INFO): Handler Thread ID is 939
2025-02-06T18:37:27.304Z,1738867047.304 [CBIT](DEBUG): Initialized mux pins.
2025-02-06T18:37:27.304Z,1738867047.304 [CBIT](DEBUG): Initializing the watchdog timer.
2025-02-06T18:37:27.312Z,1738867047.312 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 940
2025-02-06T18:37:27.324Z,1738867047.324 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 941
2025-02-06T18:37:27.326Z,1738867047.326 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-02-06T18:37:27.328Z,1738867047.328 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-02-06T18:37:27.328Z,1738867047.328 [CBIT](DEBUG): Initializing heartbeat.
2025-02-06T18:37:27.336Z,1738867047.336 [Onboard ThreadHandler](INFO): Handler Thread ID is 942
2025-02-06T18:37:27.353Z,1738867047.353 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 943
2025-02-06T18:37:27.372Z,1738867047.372 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 944
2025-02-06T18:37:27.373Z,1738867047.373 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-02-06T18:37:27.378Z,1738867047.378 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 946
2025-02-06T18:37:27.380Z,1738867047.380 [WetLabsBB2FL](INFO): Powering up
2025-02-06T18:37:27.381Z,1738867047.381 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 948
2025-02-06T18:37:27.392Z,1738867047.392 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-02-06T18:37:27.392Z,1738867047.392 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-02-06T18:37:27.393Z,1738867047.393 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-02-06T18:37:27.393Z,1738867047.393 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-02-06T18:37:27.393Z,1738867047.393 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-02-06T18:37:27.393Z,1738867047.393 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-02-06T18:37:27.393Z,1738867047.393 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-02-06T18:37:27.393Z,1738867047.393 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-02-06T18:37:27.400Z,1738867047.400 [CBIT](DEBUG): Deactivating GF circuits.
2025-02-06T18:37:27.400Z,1738867047.400 [CBIT](DEBUG): Deactivating emergency mode.
2025-02-06T18:37:27.440Z,1738867047.440 [CBIT](DEBUG): Backplane powered.
2025-02-06T18:37:27.444Z,1738867047.444 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-02-06T18:37:27.444Z,1738867047.444 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-02-06T18:37:27.445Z,1738867047.445 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-02-06T18:37:27.445Z,1738867047.445 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-02-06T18:37:27.446Z,1738867047.446 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-02-06T18:37:27.447Z,1738867047.447 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-02-06T18:37:27.447Z,1738867047.447 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-02-06T18:37:27.448Z,1738867047.448 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-02-06T18:37:27.456Z,1738867047.456 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-02-06T18:37:27.531Z,1738867047.531 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-02-06T18:37:27.551Z,1738867047.551 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-06T18:37:27.579Z,1738867047.579 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Startup {
  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-02-06T18:37:27.591Z,1738867047.591 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-02-06T18:37:27.607Z,1738867047.607 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-02-06T18:37:27.620Z,1738867047.620 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-02-06T18:37:27.760Z,1738867047.760 [Radio_Surface](INFO): Powering up
2025-02-06T18:37:27.888Z,1738867047.888 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-02-06T18:37:27.913Z,1738867047.913 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-02-06T18:37:27.915Z,1738867047.915 [Default:A.Wait](DEBUG): Construct Wait.
2025-02-06T18:37:27.917Z,1738867047.917 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-06T18:37:27.962Z,1738867047.962 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-02-06T18:37:27.964Z,1738867047.964 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-02-06T18:37:27.986Z,1738867047.986 [Default:E.Execute](DEBUG): Construct Execute.
2025-02-06T18:37:27.989Z,1738867047.989 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P4H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

    syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-02-06T18:37:28.000Z,1738867048.000 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BioacousticsDataBridge,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2025-02-06T18:37:28.008Z,1738867048.008 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-02-06T18:37:28.154Z,1738867048.154 [Power24vConverter](INFO): Powering up.
2025-02-06T18:37:28.155Z,1738867048.155 [Sonardyne_Nano](INFO): Initializing.
2025-02-06T18:37:28.210Z,1738867048.210 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-02-06T18:37:28.216Z,1738867048.216 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-02-06T18:37:28.217Z,1738867048.217 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-02-06T18:37:28.224Z,1738867048.224 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-02-06T18:37:28.225Z,1738867048.225 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-06T18:37:28.232Z,1738867048.232 [MassServo](DEBUG): Initializing MassServo.
2025-02-06T18:37:28.233Z,1738867048.233 [RudderServo](DEBUG): Initializing EZServoServo.
2025-02-06T18:37:28.244Z,1738867048.244 [RudderServo](DEBUG): Initializing RudderServo.
2025-02-06T18:37:28.245Z,1738867048.245 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-06T18:37:28.252Z,1738867048.252 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-06T18:37:29.488Z,1738867049.488 [WetLabsBB2FL](INFO): Powering down
2025-02-06T18:37:30.434Z,1738867050.434 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-02-06T18:37:31.672Z,1738867051.672 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2409
2025-02-06T18:37:33.769Z,1738867053.769 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-06T18:37:34.404Z,1738867054.404 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-02-06T18:37:52.253Z,1738867072.253 [NAL9602](INFO): Powering up NAL9602
2025-02-06T18:38:03.162Z,1738867083.162 [NAL9602](INFO): NAL9602 initialized
2025-02-06T18:38:20.135Z,1738867100.135 [NAL9602](INFO): SBD MO Status=0, MOMSN=12612, MT Status=0, MTMSN=0
2025-02-06T18:38:20.135Z,1738867100.135 [NAL9602](INFO): No messages in MT queue
2025-02-06T18:38:27.827Z,1738867107.827 [SBIT](IMPORTANT): Beginning Startup BIT
2025-02-06T18:38:27.832Z,1738867107.832 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-06T18:38:39.219Z,1738867119.219 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000579
CHAN A1 (24V): -0.000271
CHAN A2 (12V): 0.000351
CHAN A3 (5V): -0.002183
CHAN B0 (3.3V): -0.001164
CHAN B1 (3.15aV): -0.001109
CHAN B2 (3.15bV): -0.001390
CHAN B3 (GND): -0.002598
OPEN: 0.003540
Full Scale: +/- 1 mA
2025-02-06T18:39:21.734Z,1738867161.734 [SBIT](IMPORTANT): SBIT PASSED
2025-02-06T18:39:21.734Z,1738867161.734 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-02-06T18:39:21.735Z,1738867161.735 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2025-02-06T18:39:21.740Z,1738867161.740 [SBIT](IMPORTANT): DATMMP.loadAtStartup=0 bool;

2025-02-06T18:39:21.740Z,1738867161.740 [SBIT](IMPORTANT): DATMMP.simulateHardware=0 bool;

2025-02-06T18:39:21.740Z,1738867161.740 [SBIT](IMPORTANT): Express none platform_roll_angle;

2025-02-06T18:39:21.740Z,1738867161.740 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=-0.5 ampere_hour;

2025-02-06T18:39:21.740Z,1738867161.740 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=10 volt;

2025-02-06T18:39:21.740Z,1738867161.740 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.925 meter_per_second;

2025-02-06T18:39:21.740Z,1738867161.740 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=345.701638 cubic_centimeter;

2025-02-06T18:39:21.740Z,1738867161.740 [SBIT](IMPORTANT): VerticalControl.massDefault=10.247203 millimeter;

2025-02-06T18:39:22.077Z,1738867162.077 [MissionManager](IMPORTANT): Started mission Startup
2025-02-06T18:39:22.077Z,1738867162.077 [Startup] Running Loop=1
2025-02-06T18:39:22.078Z,1738867162.078 [Startup](DEBUG): Aggregate::initialize Startup
2025-02-06T18:39:22.078Z,1738867162.078 [Startup:A.GoToSurface] Running Loop=1
2025-02-06T18:39:22.078Z,1738867162.078 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-06T18:39:22.078Z,1738867162.078 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-06T18:39:22.079Z,1738867162.079 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-06T18:39:22.079Z,1738867162.079 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-06T18:39:22.107Z,1738867162.107 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-06T18:39:22.108Z,1738867162.108 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-06T18:39:22.108Z,1738867162.108 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-06T18:39:22.110Z,1738867162.110 [Startup:StartupSatComms] Running Loop=1
2025-02-06T18:39:22.110Z,1738867162.110 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-02-06T18:39:22.110Z,1738867162.110 [Startup:StartupSatComms:A] Running Loop=1
2025-02-06T18:39:22.500Z,1738867162.500 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-02-06T18:39:30.621Z,1738867170.621 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004290
2025-02-06T18:39:58.021Z,1738867198.021 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183956.00,A,3648.16238,N,12150.55410,W,0.855,280.64,060225,,,A*7A
2025-02-06T18:39:58.026Z,1738867198.026 [NAL9602](INFO): GPS fix at 20250206T183956: (36.802706, -121.842568)
2025-02-06T18:39:58.038Z,1738867198.038 [Startup:StartupSatComms:A] Stopped
2025-02-06T18:39:58.038Z,1738867198.038 [Startup:StartupSatComms:B] Running Loop=1
2025-02-06T18:39:58.451Z,1738867198.451 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-06T18:40:06.037Z,1738867206.037 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250206T024555/Courier0109.lzma
2025-02-06T18:40:06.722Z,1738867206.722 [DataOverHttps](INFO): Moved sent file to Logs/20250206T024555/Courier0109.lzma.bak
2025-02-06T18:40:06.722Z,1738867206.722 [DataOverHttps](INFO): SBD MOMSN=23960339
2025-02-06T18:40:23.575Z,1738867223.575 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250206T183702/Courier0000.lzma
2025-02-06T18:40:24.577Z,1738867224.577 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Courier0000.lzma.bak
2025-02-06T18:40:24.578Z,1738867224.578 [DataOverHttps](INFO): SBD MOMSN=23960341
2025-02-06T18:40:30.341Z,1738867230.341 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-06T18:40:40.399Z,1738867240.399 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250206T024555/Express0110.lzma
2025-02-06T18:40:41.402Z,1738867241.402 [DataOverHttps](INFO): Moved sent file to Logs/20250206T024555/Express0110.lzma.bak
2025-02-06T18:40:41.402Z,1738867241.402 [DataOverHttps](INFO): SBD MOMSN=23960345
2025-02-06T18:40:57.577Z,1738867257.577 [DataOverHttps](INFO): Sending 953 bytes from file Logs/20250206T183702/Express0001.lzma
2025-02-06T18:40:58.233Z,1738867258.233 [Startup:StartupSatComms:B](INFO): Timed out from 2025-02-06T18:39:58.0Z
2025-02-06T18:40:58.233Z,1738867258.233 [Startup:StartupSatComms:B] Stopped
2025-02-06T18:40:58.233Z,1738867258.233 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-02-06T18:40:58.233Z,1738867258.233 [Startup:StartupSatComms] Stopped
2025-02-06T18:40:58.234Z,1738867258.234 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-02-06T18:40:58.234Z,1738867258.234 [Startup](INFO): Completed Startup
2025-02-06T18:40:58.235Z,1738867258.235 [MissionManager](INFO): Startup is completed.
2025-02-06T18:40:58.235Z,1738867258.235 [MissionManager](INFO): Uninitializing Mission Startup
2025-02-06T18:40:58.235Z,1738867258.235 [Startup] Stopped
2025-02-06T18:40:58.235Z,1738867258.235 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-02-06T18:40:58.235Z,1738867258.235 [Startup:A.GoToSurface] Stopped
2025-02-06T18:40:58.235Z,1738867258.235 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-06T18:40:58.578Z,1738867258.578 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Express0001.lzma.bak
2025-02-06T18:40:58.578Z,1738867258.578 [DataOverHttps](INFO): SBD MOMSN=23960352
2025-02-06T18:40:58.660Z,1738867258.660 [MissionManager](IMPORTANT): Started mission Default
2025-02-06T18:40:58.660Z,1738867258.660 [Default] Running Loop=1
2025-02-06T18:40:58.660Z,1738867258.660 [Default](DEBUG): Aggregate::initialize Default
2025-02-06T18:40:58.660Z,1738867258.660 [Default:B.GoToSurface] Running Loop=1
2025-02-06T18:40:58.660Z,1738867258.660 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-06T18:40:58.660Z,1738867258.660 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-06T18:40:58.661Z,1738867258.661 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-06T18:40:58.661Z,1738867258.661 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-06T18:40:58.661Z,1738867258.661 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-06T18:40:58.662Z,1738867258.662 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-06T18:40:58.662Z,1738867258.662 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-06T18:40:58.662Z,1738867258.662 [Default:A.Wait] Running Loop=1
2025-02-06T18:40:58.662Z,1738867258.662 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-06T18:41:11.000Z,1738867272.000 [Default:A.Wait](INFO): Done Waiting.
2025-02-06T18:41:11.000Z,1738867272.000 [Default:A.Wait] Stopped
2025-02-06T18:41:11.000Z,1738867272.000 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-06T18:41:12.407Z,1738867272.407 [Default:CheckIn] Running Loop=1
2025-02-06T18:41:12.408Z,1738867272.408 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-06T18:41:12.408Z,1738867272.408 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-06T18:41:12.800Z,1738867272.800 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-06T18:41:14.411Z,1738867274.411 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184112.00,A,3648.17443,N,12150.55873,W,0.758,16.15,060225,,,A*4E
2025-02-06T18:41:14.413Z,1738867274.413 [NAL9602](INFO): GPS fix at 20250206T184112: (36.802907, -121.842646)
2025-02-06T18:41:14.457Z,1738867274.457 [Default:CheckIn:Read_GPS] Stopped
2025-02-06T18:41:14.458Z,1738867274.458 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-06T18:41:14.958Z,1738867274.958 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-06T18:41:22.301Z,1738867282.301 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250206T183702/Courier0004.lzma
2025-02-06T18:41:23.301Z,1738867283.301 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Courier0004.lzma.bak
2025-02-06T18:41:23.301Z,1738867283.302 [DataOverHttps](INFO): SBD MOMSN=23960381
2025-02-06T18:41:31.062Z,1738867291.062 [NAL9602](INFO): SBD MO Status=0, MOMSN=12613, MT Status=0, MTMSN=0
2025-02-06T18:41:31.062Z,1738867291.062 [NAL9602](INFO): No messages in MT queue
2025-02-06T18:41:39.179Z,1738867299.179 [DataOverHttps](INFO): Sending 103 bytes from file Logs/20250206T183702/Express0005.lzma
2025-02-06T18:41:40.181Z,1738867300.181 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Express0005.lzma.bak
2025-02-06T18:41:40.182Z,1738867300.182 [DataOverHttps](INFO): SBD MOMSN=23960384
2025-02-06T18:41:41.638Z,1738867301.638 [Default:CheckIn:Read_Iridium] Stopped
2025-02-06T18:41:41.638Z,1738867301.638 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-06T18:41:41.638Z,1738867301.638 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-06T18:42:01.769Z,1738867321.769 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-06T18:43:28.231Z,1738867408.231 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-06T18:44:49.390Z,1738867489.390 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-06T18:44:51.661Z,1738867491.661 [DataOverHttps](IMPORTANT): SBD MTMSN=20250206T184450
2025-02-06T18:44:59.077Z,1738867499.077 [DataOverHttps](INFO): Received command: load Transport/keepstation_approach.tl;set keepstation_approach.MissionTimeout 1 h;set keepstation_approach.NeedCommsTime 30 min;set keepstation_approach:BackseatDriver.EnableBackseat 1 bool;run
2025-02-06T18:44:59.153Z,1738867499.153 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation_approach.tl
2025-02-06T18:44:59.153Z,1738867499.153 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation_approach.tl
2025-02-06T18:44:59.153Z,1738867499.153 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation_approach.tl
2025-02-06T18:44:59.159Z,1738867499.159 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation_approach.tl
2025-02-06T18:45:00.130Z,1738867500.130 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation_approach.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation_approach">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="TransitDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>29</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Syslog Severity="Important">Transiting to station</Syslog>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="TransitDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="OnStation" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Important">
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="ApproachSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Sequence />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                    , settling for 
                    <Arg Name="SettleTime" />
                    <Units:minute />
                </Syslog>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="SettleTime" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
            </While>
            <Aggregate Id="keepstation">
                <Parallel />
                <Assign>
                    <Parallel />
                    <Control:VerticalControl.depthDeadband />
                    <Arg Name="DepthDeadband" />
                </Assign>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="Depth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:KeepStation>
                    <Parallel />
                    <Setting>
                        <Guidance:KeepStation.latitude />
                        <Arg Name="Latitude" />
                    </Setting>
                    <Setting>
                        <Guidance:KeepStation.longitude />
                        <Arg Name="Longitude" />
                    </Setting>
                    <Setting>
                        <Guidance:KeepStation.radius />
                        <Arg Name="Radius" />
                    </Setting>
                    <Setting>
                        <Guidance:KeepStation.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:KeepStation>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Station">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-02-06T18:45:00.137Z,1738867500.137 [MissionManager](INFO): DefineArg keepstation_approach.MissionTimeout = 4.000000 h
2025-02-06T18:45:00.141Z,1738867500.141 [MissionManager](INFO): DefineArg keepstation_approach.NeedCommsTime = 45.000000 min
2025-02-06T18:45:00.143Z,1738867500.143 [MissionManager](INFO): DefineArg keepstation_approach.Latitude = nan arcdeg
2025-02-06T18:45:00.146Z,1738867500.146 [MissionManager](INFO): DefineArg keepstation_approach.Longitude = nan arcdeg
2025-02-06T18:45:00.149Z,1738867500.149 [MissionManager](INFO): DefineArg keepstation_approach.Depth = 30.000000 m
2025-02-06T18:45:00.151Z,1738867500.151 [MissionManager](INFO): DefineArg keepstation_approach.TransitDepth = 15.000000 m
2025-02-06T18:45:00.159Z,1738867500.159 [MissionManager](INFO): DefineArg keepstation_approach.ApproachDepth = 29.000000 m
2025-02-06T18:45:00.162Z,1738867500.162 [MissionManager](INFO): DefineArg keepstation_approach.SettleTime = 5.000000 min
2025-02-06T18:45:00.202Z,1738867500.202 [MissionManager](INFO): DefineArg keepstation_approach.DepthDeadband = 4.000000 m
2025-02-06T18:45:00.205Z,1738867500.205 [MissionManager](INFO): DefineArg keepstation_approach.Speed = 0.750000 m/s
2025-02-06T18:45:00.208Z,1738867500.208 [MissionManager](INFO): DefineArg keepstation_approach.ApproachSpeed = 1.000000 m/s
2025-02-06T18:45:00.211Z,1738867500.211 [MissionManager](INFO): DefineArg keepstation_approach.Radius = 200.000000 m
2025-02-06T18:45:00.223Z,1738867500.223 [MissionManager](INFO): DefineArg keepstation_approach.MaxDepth = 45.000000 m
2025-02-06T18:45:00.226Z,1738867500.226 [MissionManager](INFO): DefineArg keepstation_approach.MinOffshore = 2.000000 km
2025-02-06T18:45:00.229Z,1738867500.229 [MissionManager](INFO): DefineOutput keepstation_approach.DiveMode = 0.000000 count
2025-02-06T18:45:00.250Z,1738867500.250 [MissionManager](INFO): DefineOutput keepstation_approach.DoingComms = 0.000000 count
2025-02-06T18:45:00.253Z,1738867500.253 [MissionManager](INFO): DefineOutput keepstation_approach.InitialDive = 1.000000 count
2025-02-06T18:45:00.256Z,1738867500.256 [MissionManager](INFO): DefineOutput keepstation_approach.SettleAtDepth = 2.000000 count
2025-02-06T18:45:00.258Z,1738867500.258 [MissionManager](INFO): DefineOutput keepstation_approach.MaintainDepth = 3.000000 count
2025-02-06T18:45:00.259Z,1738867500.259 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-06T18:45:00.259Z,1738867500.259 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-06T18:45:00.270Z,1738867500.270 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-06T18:45:00.602Z,1738867500.602 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-02-06T18:45:00.607Z,1738867500.607 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.DiveInterval = 1.000000 h
2025-02-06T18:45:00.610Z,1738867500.610 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-06T18:45:00.613Z,1738867500.613 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-06T18:45:00.616Z,1738867500.616 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfaceDepthRate = nan m/s
2025-02-06T18:45:00.618Z,1738867500.618 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-06T18:45:00.621Z,1738867500.621 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-06T18:45:00.649Z,1738867500.649 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.GPSTimeout = 7.000000 min
2025-02-06T18:45:00.651Z,1738867500.651 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.CommsTimeout = 30.000000 min
2025-02-06T18:45:00.658Z,1738867500.658 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-06T18:45:00.750Z,1738867500.750 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-06T18:45:00.750Z,1738867500.750 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-06T18:45:00.759Z,1738867500.759 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-06T18:45:00.919Z,1738867500.919 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-02-06T18:45:00.932Z,1738867500.932 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-06T18:45:00.935Z,1738867500.935 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-06T18:45:00.942Z,1738867500.942 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-06T18:45:00.945Z,1738867500.945 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-06T18:45:00.947Z,1738867500.947 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-06T18:45:00.975Z,1738867500.975 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-06T18:45:01.001Z,1738867501.001 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-06T18:45:01.032Z,1738867501.032 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-06T18:45:01.032Z,1738867501.032 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-06T18:45:01.033Z,1738867501.033 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-06T18:45:01.067Z,1738867501.067 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-02-06T18:45:01.074Z,1738867501.074 [MissionManager](INFO): DefineArg keepstation_approach:BackseatDriver.EnableBackseat = 0 bool
2025-02-06T18:45:01.081Z,1738867501.081 [keepstation_approach:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-06T18:45:01.086Z,1738867501.086 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-06T18:45:01.086Z,1738867501.086 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-06T18:45:01.123Z,1738867501.123 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-06T18:45:01.340Z,1738867501.340 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-02-06T18:45:01.348Z,1738867501.348 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleAll = 0 bool
2025-02-06T18:45:01.356Z,1738867501.356 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad1 = 0 bool
2025-02-06T18:45:01.361Z,1738867501.361 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad2 = 0 bool
2025-02-06T18:45:01.364Z,1738867501.364 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad3 = 0 bool
2025-02-06T18:45:01.371Z,1738867501.371 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-06T18:45:01.382Z,1738867501.382 [keepstation_approach:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-06T18:45:01.388Z,1738867501.388 [keepstation_approach:H.Pitch](DEBUG): Construct.
2025-02-06T18:45:01.424Z,1738867501.424 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-06T18:45:01.428Z,1738867501.428 [keepstation_approach:TransitToStation:C.Pitch](DEBUG): Construct.
2025-02-06T18:45:01.433Z,1738867501.433 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Construct.
2025-02-06T18:45:01.448Z,1738867501.448 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-06T18:45:01.458Z,1738867501.458 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-06T18:45:01.470Z,1738867501.470 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Construct.
2025-02-06T18:45:01.473Z,1738867501.473 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch](DEBUG): Construct.
2025-02-06T18:45:01.516Z,1738867501.516 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Construct.
2025-02-06T18:45:01.519Z,1738867501.519 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Construct.
2025-02-06T18:45:01.536Z,1738867501.536 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Construct Wait.
2025-02-06T18:45:01.559Z,1738867501.559 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Construct.
2025-02-06T18:45:01.576Z,1738867501.576 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-06T18:45:01.602Z,1738867501.602 [keepstation_approach:Station:B.Wait](DEBUG): Construct Wait.
2025-02-06T18:45:01.637Z,1738867501.637 [MissionManager](DEBUG): 
mission keepstation_approach {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius. After each surface interval,
  performs an approach dive to settle at the approach depth before
  transitioning to station keeping.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    TransitDepth = 15 meter
      """
      Depth for initial transit to station.
      """

    ApproachDepth = 29 meter
      """
      Depth for initial dive during station keeping
      """

    SettleTime = 5 minute
      """
      Time to hold at approach depth before transitioning to station keeping
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    ApproachSpeed = 1 meter_per_second
      """
      Speed for initial dive during station keeping
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at station keeping depth.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  call id="StartingMission" refId="SurfaceComms"

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    syslog important "Transiting to station"

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = TransitDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="SurfaceComms"

  aggregate DiveCmd {
    """
    Arbitrates between 3 dive modes: 1) descend from the surface
    to approach depth. 2) settle at approach depth. 3) maintain
    station keeping at target depth.
    """

    run when ( called )

    aggregate InitialDive {
      """
      Descend from the surface to approach depth
      """

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        syslog important "Moving to " + ApproachDepth~meter

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = ApproachSpeed
        }

        behavior Guidance:Pitch {
          run in sequence

          set depth = ApproachDepth
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take time to settle at the approach depth with zero speed
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + ApproachDepth~meter + ", settling for " + SettleTime~minute

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = SettleTime
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      run while ( DiveMode == MaintainDepth )

      aggregate keepstation {
        run in parallel

        assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

        behavior Guidance:Pitch {
          run in parallel

          set depth = Depth
        }

        behavior Guidance:KeepStation {
          run in parallel

          set latitude = Latitude
          set longitude = Longitude
          set radius = Radius
          set speed = Speed
        }
      }
    }
  }

  aggregate Station {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-02-06T18:45:01.638Z,1738867501.638 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation_approach.tl id=keepstation_approach
2025-02-06T18:45:17.634Z,1738867517.634 [CommandExec](IMPORTANT): got command set keepstation_approach.MissionTimeout 1 hour
2025-02-06T18:45:17.635Z,1738867517.635 [CommandExec](IMPORTANT): got command set keepstation_approach.NeedCommsTime 30 minute
2025-02-06T18:45:17.644Z,1738867517.644 [CommandExec](IMPORTANT): got command set keepstation_approach:BackseatDriver.EnableBackseat 1 bool
2025-02-06T18:45:17.644Z,1738867517.644 [CommandExec](IMPORTANT): got command run
2025-02-06T18:45:17.646Z,1738867517.646 [CommandExec](IMPORTANT): Running 
2025-02-06T18:45:17.805Z,1738867517.805 [Default] Stopped
2025-02-06T18:45:17.805Z,1738867517.805 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-06T18:45:17.805Z,1738867517.805 [Default:B.GoToSurface] Stopped
2025-02-06T18:45:17.805Z,1738867517.805 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-06T18:45:17.805Z,1738867517.805 [Default:CheckIn] Stopped
2025-02-06T18:45:17.805Z,1738867517.805 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-06T18:45:17.805Z,1738867517.805 [Default:CheckIn:C.Wait] Stopped
2025-02-06T18:45:17.805Z,1738867517.805 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-06T18:45:17.805Z,1738867517.805 [MissionManager](IMPORTANT): Started mission keepstation_approach
2025-02-06T18:45:17.806Z,1738867517.806 [keepstation_approach] Running Loop=1
2025-02-06T18:45:17.806Z,1738867517.806 [keepstation_approach](DEBUG): Aggregate::initialize keepstation_approach
2025-02-06T18:45:17.806Z,1738867517.806 [keepstation_approach:StandardEnvelopes] Running Loop=1
2025-02-06T18:45:17.806Z,1738867517.806 [keepstation_approach:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation_approach:StandardEnvelopes
2025-02-06T18:45:17.806Z,1738867517.806 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-06T18:45:17.806Z,1738867517.806 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-06T18:45:17.806Z,1738867517.806 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-06T18:45:17.806Z,1738867517.806 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-06T18:45:17.807Z,1738867517.807 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-06T18:45:17.807Z,1738867517.807 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-06T18:45:17.807Z,1738867517.807 [keepstation_approach:BackseatDriver] Running Loop=1
2025-02-06T18:45:17.807Z,1738867517.807 [keepstation_approach:BackseatDriver](DEBUG): Aggregate::initialize keepstation_approach:BackseatDriver
2025-02-06T18:45:17.807Z,1738867517.807 [keepstation_approach:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-06T18:45:17.831Z,1738867517.831 [keepstation_approach:PowerOnly] Running Loop=1
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:PowerOnly](DEBUG): Aggregate::initialize keepstation_approach:PowerOnly
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:PowerOnly:A] Running Loop=1
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:PowerOnly:B] Running Loop=1
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:PowerOnly:C] Running Loop=1
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:PowerOnly:D] Running Loop=1
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:PowerOnly:E.Wait] Running Loop=1
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:H.Pitch] Running Loop=1
2025-02-06T18:45:17.832Z,1738867517.832 [keepstation_approach:H.Pitch](DEBUG): Initialize.
2025-02-06T18:45:17.833Z,1738867517.833 [keepstation_approach:B] Running Loop=1
2025-02-06T18:45:17.834Z,1738867517.834 [keepstation_approach:H.Pitch] Running Loop=1
2025-02-06T18:45:17.834Z,1738867517.834 [keepstation_approach:PowerOnly] Running Loop=1
2025-02-06T18:45:17.834Z,1738867517.834 [keepstation_approach:PowerOnly:D] Stopped
2025-02-06T18:45:17.834Z,1738867517.834 [keepstation_approach:PowerOnly:C] Stopped
2025-02-06T18:45:17.834Z,1738867517.834 [keepstation_approach:PowerOnly:B] Stopped
2025-02-06T18:45:17.834Z,1738867517.834 [keepstation_approach:PowerOnly:A] Stopped
2025-02-06T18:45:17.835Z,1738867517.835 [keepstation_approach:BackseatDriver] Running Loop=1
2025-02-06T18:45:17.835Z,1738867517.835 [keepstation_approach:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-06T18:45:17.904Z,1738867517.904 [BackseatComponent](INFO): Powering up
2025-02-06T18:45:17.905Z,1738867517.905 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-06T18:45:18.019Z,1738867518.019 [keepstation_approach:StandardEnvelopes] Running Loop=1
2025-02-06T18:45:18.035Z,1738867518.035 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-06T18:45:18.036Z,1738867518.036 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-06T18:45:18.037Z,1738867518.037 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-06T18:45:18.037Z,1738867518.037 [keepstation_approach:B] Stopped
2025-02-06T18:45:18.037Z,1738867518.037 [keepstation_approach:D] Running Loop=1
2025-02-06T18:45:18.256Z,1738867518.256 [keepstation_approach:D] Stopped
2025-02-06T18:45:18.256Z,1738867518.256 [keepstation_approach:E] Running Loop=1
2025-02-06T18:45:18.616Z,1738867518.616 [keepstation_approach:E] Stopped
2025-02-06T18:45:18.616Z,1738867518.616 [keepstation_approach:StartingMission] Running Loop=1
2025-02-06T18:45:18.616Z,1738867518.616 [keepstation_approach:StartingMission](DEBUG): Aggregate::initialize keepstation_approach:StartingMission
2025-02-06T18:45:19.049Z,1738867519.049 [keepstation_approach:SurfaceComms] Running Loop=1
2025-02-06T18:45:19.050Z,1738867519.050 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms
2025-02-06T18:45:19.050Z,1738867519.050 [keepstation_approach:SurfaceComms:A] Running Loop=1
2025-02-06T18:45:19.050Z,1738867519.050 [keepstation_approach:SurfaceComms:A] Stopped
2025-02-06T18:45:19.050Z,1738867519.050 [keepstation_approach:SurfaceComms:B] Running Loop=1
2025-02-06T18:45:19.050Z,1738867519.050 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms:B
2025-02-06T18:45:19.412Z,1738867519.412 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-06T18:45:19.412Z,1738867519.412 [keepstation_approach:NeedComms] Running Loop=1
2025-02-06T18:45:19.412Z,1738867519.412 [keepstation_approach:NeedComms](DEBUG): Aggregate::initialize keepstation_approach:NeedComms
2025-02-06T18:45:19.413Z,1738867519.413 [keepstation_approach:NeedComms:B.GoToSurface] Running Loop=1
2025-02-06T18:45:19.413Z,1738867519.413 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-06T18:45:19.413Z,1738867519.413 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-06T18:45:19.413Z,1738867519.413 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-06T18:45:19.414Z,1738867519.414 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-06T18:45:19.414Z,1738867519.414 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-06T18:45:19.414Z,1738867519.414 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-06T18:45:19.415Z,1738867519.415 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-06T18:45:19.415Z,1738867519.415 [keepstation_approach:NeedComms:A] Running Loop=1
2025-02-06T18:45:19.416Z,1738867519.416 [keepstation_approach:NeedComms:A](INFO): last time_fix was:  1738867272.000000 second since 1970/01/01T00:00:00Z 
2025-02-06T18:45:19.417Z,1738867519.417 [keepstation_approach:NeedComms:A] Stopped
2025-02-06T18:45:19.889Z,1738867519.889 [keepstation_approach:NeedComms:C] Running Loop=1
2025-02-06T18:45:20.249Z,1738867520.249 [keepstation_approach:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-06T18:45:21.822Z,1738867521.822 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184521.00,A,3648.21515,N,12150.57279,W,1.147,353.52,060225,,,A*77
2025-02-06T18:45:21.833Z,1738867521.833 [NAL9602](INFO): GPS fix at 20250206T184521: (36.803586, -121.842880)
2025-02-06T18:45:21.853Z,1738867521.853 [keepstation_approach:NeedComms:C] Stopped
2025-02-06T18:45:21.853Z,1738867521.853 [keepstation_approach:NeedComms:D] Running Loop=1
2025-02-06T18:45:22.269Z,1738867522.269 [keepstation_approach:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-06T18:45:29.823Z,1738867529.823 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250206T183702/Courier0007.lzma
2025-02-06T18:45:30.825Z,1738867530.825 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Courier0007.lzma.bak
2025-02-06T18:45:30.826Z,1738867530.826 [DataOverHttps](IMPORTANT): SBD MOMSN=23960392, MTMSN=20250206T184529
2025-02-06T18:45:38.351Z,1738867538.351 [DataOverHttps](INFO): Received command: schedule resume
2025-02-06T18:45:38.410Z,1738867538.410 [CommandExec](IMPORTANT): got command schedule resume
2025-02-06T18:45:39.530Z,1738867539.530 [DataOverHttps](IMPORTANT): SBD MTMSN=20250206T184538
2025-02-06T18:45:46.920Z,1738867546.920 [DataOverHttps](INFO): Sending 354 bytes from file Logs/20250206T183702/Express0008.lzma
2025-02-06T18:45:46.922Z,1738867546.922 [DataOverHttps](INFO): Received command: sched "restart logs"
2025-02-06T18:45:46.958Z,1738867546.958 [CommandExec](IMPORTANT): got command schedule "restart logs"
2025-02-06T18:45:46.958Z,1738867546.958 [CommandExec](IMPORTANT): Scheduled #1: "restart logs", AFTER MISSION
2025-02-06T18:45:48.167Z,1738867548.167 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Express0008.lzma.bak
2025-02-06T18:45:48.167Z,1738867548.167 [DataOverHttps](INFO): SBD MOMSN=23960396
2025-02-06T18:45:52.534Z,1738867552.534 [NAL9602](INFO): SBD MO Status=0, MOMSN=12614, MT Status=0, MTMSN=0
2025-02-06T18:45:52.534Z,1738867552.534 [NAL9602](INFO): No messages in MT queue
2025-02-06T18:46:03.819Z,1738867563.819 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250206T183702/Courier0013.lzma
2025-02-06T18:46:04.821Z,1738867564.821 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Courier0013.lzma.bak
2025-02-06T18:46:04.821Z,1738867564.821 [DataOverHttps](INFO): SBD MOMSN=23960408
2025-02-06T18:46:21.191Z,1738867581.191 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250206T183702/Courier0016.lzma
2025-02-06T18:46:22.193Z,1738867582.193 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Courier0016.lzma.bak
2025-02-06T18:46:22.193Z,1738867582.193 [DataOverHttps](INFO): SBD MOMSN=23960410
2025-02-06T18:46:23.255Z,1738867583.255 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-06T18:46:25.421Z,1738867585.421 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250206T184623
2025-02-06T18:46:28.126Z,1738867588.126 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-02-06T18:46:28.127Z,1738867588.127 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 1
2025-02-06T18:46:28.130Z,1738867588.130 [BackseatComponent](INFO): Created universal data reader for latitude with code: 23
2025-02-06T18:46:28.130Z,1738867588.130 [BackseatComponent](INFO): Requesting data from latitude (23). Requested size is: 2
2025-02-06T18:46:28.133Z,1738867588.133 [BackseatComponent](INFO): Created universal data reader for longitude with code: 26
2025-02-06T18:46:28.134Z,1738867588.134 [BackseatComponent](INFO): Requesting data from longitude (26). Requested size is: 3
2025-02-06T18:46:28.137Z,1738867588.137 [BackseatComponent](INFO): Created universal data reader for platform_orientation with code: 52
2025-02-06T18:46:28.137Z,1738867588.137 [BackseatComponent](INFO): Requesting data from platform_orientation (52). Requested size is: 4
2025-02-06T18:46:28.160Z,1738867588.160 [BackseatComponent](INFO): Created universal data reader for platform_pitch_angle with code: 54
2025-02-06T18:46:28.160Z,1738867588.160 [BackseatComponent](INFO): Requesting data from platform_pitch_angle (54). Requested size is: 5
2025-02-06T18:46:28.163Z,1738867588.163 [BackseatComponent](INFO): Created universal data reader for platform_roll_angle with code: 59
2025-02-06T18:46:28.176Z,1738867588.176 [BackseatComponent](INFO): Requesting data from platform_roll_angle (59). Requested size is: 6
2025-02-06T18:46:28.178Z,1738867588.178 [BackseatComponent](INFO): Created universal data reader for platform_x_velocity_wrt_sea_water with code: 70
2025-02-06T18:46:28.179Z,1738867588.179 [BackseatComponent](INFO): Requesting data from platform_x_velocity_wrt_sea_water (70). Requested size is: 7
2025-02-06T18:46:38.323Z,1738867598.323 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250206T183702/Express0011.lzma
2025-02-06T18:46:39.325Z,1738867599.325 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Express0011.lzma.bak
2025-02-06T18:46:39.325Z,1738867599.325 [DataOverHttps](INFO): SBD MOMSN=23960413
2025-02-06T18:46:55.535Z,1738867615.535 [DataOverHttps](INFO): Sending 149 bytes from file Logs/20250206T183702/Express0014.lzma
2025-02-06T18:46:56.537Z,1738867616.537 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Express0014.lzma.bak
2025-02-06T18:46:56.537Z,1738867616.537 [DataOverHttps](INFO): SBD MOMSN=23960415
2025-02-06T18:47:16.287Z,1738867636.287 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20250206T183702/Express0017.lzma
2025-02-06T18:47:17.289Z,1738867637.289 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Express0017.lzma.bak
2025-02-06T18:47:17.289Z,1738867637.289 [DataOverHttps](INFO): SBD MOMSN=23960419
2025-02-06T18:47:18.649Z,1738867638.649 [keepstation_approach:NeedComms:D] Stopped
2025-02-06T18:47:18.649Z,1738867638.649 [keepstation_approach:NeedComms:E] Running Loop=1
2025-02-06T18:47:19.049Z,1738867639.049 [keepstation_approach:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-06T18:47:20.650Z,1738867640.650 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184720.00,A,3648.23045,N,12150.58022,W,0.972,350.73,060225,,,A*7A
2025-02-06T18:47:20.653Z,1738867640.653 [NAL9602](INFO): GPS fix at 20250206T184720: (36.803841, -121.843004)
2025-02-06T18:47:20.708Z,1738867640.708 [keepstation_approach:NeedComms:E] Stopped
2025-02-06T18:47:20.709Z,1738867640.709 [keepstation_approach:NeedComms](INFO): Completed keepstation_approach:NeedComms
2025-02-06T18:47:20.709Z,1738867640.709 [keepstation_approach:NeedComms] Stopped
2025-02-06T18:47:20.709Z,1738867640.709 [keepstation_approach:NeedComms](DEBUG): Aggregate::uninitialize keepstation_approach:NeedComms
2025-02-06T18:47:20.710Z,1738867640.710 [keepstation_approach:NeedComms:B.GoToSurface] Stopped
2025-02-06T18:47:20.710Z,1738867640.710 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-06T18:47:21.093Z,1738867641.093 [keepstation_approach:SurfaceComms:B](INFO): Completed keepstation_approach:SurfaceComms:B
2025-02-06T18:47:21.093Z,1738867641.093 [keepstation_approach:SurfaceComms:B] Stopped
2025-02-06T18:47:21.093Z,1738867641.093 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms:B
2025-02-06T18:47:21.093Z,1738867641.093 [keepstation_approach:SurfaceComms:C] Running Loop=1
2025-02-06T18:47:21.117Z,1738867641.117 [keepstation_approach:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1933
2025-02-06T18:47:21.493Z,1738867641.493 [keepstation_approach:SurfaceComms:C] Stopped
2025-02-06T18:47:21.493Z,1738867641.493 [keepstation_approach:SurfaceComms](INFO): Completed keepstation_approach:SurfaceComms
2025-02-06T18:47:21.493Z,1738867641.493 [keepstation_approach:SurfaceComms] Stopped
2025-02-06T18:47:21.493Z,1738867641.493 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms
2025-02-06T18:47:22.015Z,1738867642.015 [keepstation_approach:StartingMission](INFO): Completed keepstation_approach:StartingMission
2025-02-06T18:47:22.015Z,1738867642.015 [keepstation_approach:StartingMission] Stopped
2025-02-06T18:47:22.015Z,1738867642.015 [keepstation_approach:StartingMission](DEBUG): Aggregate::uninitialize keepstation_approach:StartingMission
2025-02-06T18:47:22.015Z,1738867642.015 [keepstation_approach:TransitToStation] Running Loop=1
2025-02-06T18:47:22.016Z,1738867642.016 [keepstation_approach:TransitToStation](DEBUG): Aggregate::initialize keepstation_approach:TransitToStation
2025-02-06T18:47:22.016Z,1738867642.016 [keepstation_approach:TransitToStation:B.Buoyancy] Running Loop=1
2025-02-06T18:47:22.016Z,1738867642.016 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-06T18:47:22.016Z,1738867642.016 [keepstation_approach:TransitToStation:C.Pitch] Running Loop=1
2025-02-06T18:47:22.016Z,1738867642.016 [keepstation_approach:TransitToStation:C.Pitch](DEBUG): Initialize.
2025-02-06T18:47:22.016Z,1738867642.016 [keepstation_approach:TransitToStation:D.SetSpeed] Running Loop=1
2025-02-06T18:47:22.016Z,1738867642.016 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Initialize.
2025-02-06T18:47:22.016Z,1738867642.016 [keepstation_approach:TransitToStation:A] Running Loop=1
2025-02-06T18:47:22.333Z,1738867642.333 [keepstation_approach:TransitToStation:D.SetSpeed] Running Loop=1
2025-02-06T18:47:22.333Z,1738867642.333 [keepstation_approach:TransitToStation:C.Pitch] Running Loop=1
2025-02-06T18:47:22.333Z,1738867642.333 [keepstation_approach:TransitToStation:B.Buoyancy] Running Loop=1
2025-02-06T18:47:22.334Z,1738867642.334 [keepstation_approach:TransitToStation:A](IMPORTANT): Transiting to station
2025-02-06T18:47:22.334Z,1738867642.334 [keepstation_approach:TransitToStation:A] Stopped
2025-02-06T18:47:22.334Z,1738867642.334 [keepstation_approach:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-06T18:47:22.334Z,1738867642.334 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-06T18:47:22.766Z,1738867642.766 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-02-06T18:47:22.766Z,1738867642.766 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-02-06T18:47:22.766Z,1738867642.766 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-02-06T18:47:26.720Z,1738867646.720 [keepstation_approach:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-06T18:47:26.720Z,1738867646.720 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:TransitToStation](INFO): Completed keepstation_approach:TransitToStation
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:TransitToStation] Stopped
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:TransitToStation](DEBUG): Aggregate::uninitialize keepstation_approach:TransitToStation
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:TransitToStation:B.Buoyancy] Stopped
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:TransitToStation:C.Pitch] Stopped
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:TransitToStation:D.SetSpeed] Stopped
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Uninitialize.
2025-02-06T18:47:26.721Z,1738867646.721 [keepstation_approach:OnStation] Running Loop=1
2025-02-06T18:47:26.722Z,1738867646.722 [keepstation_approach:OnStation](DEBUG): Aggregate::initialize keepstation_approach:OnStation
2025-02-06T18:47:27.124Z,1738867647.124 [keepstation_approach:SurfaceComms] Running Loop=1
2025-02-06T18:47:27.124Z,1738867647.124 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms
2025-02-06T18:47:27.124Z,1738867647.124 [keepstation_approach:SurfaceComms:A] Running Loop=1
2025-02-06T18:47:27.125Z,1738867647.125 [keepstation_approach:SurfaceComms:A] Stopped
2025-02-06T18:47:27.125Z,1738867647.125 [keepstation_approach:SurfaceComms:B] Running Loop=1
2025-02-06T18:47:27.125Z,1738867647.125 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms:B
2025-02-06T18:47:27.536Z,1738867647.536 [keepstation_approach:NeedComms] Running Loop=1
2025-02-06T18:47:27.537Z,1738867647.537 [keepstation_approach:NeedComms](DEBUG): Aggregate::initialize keepstation_approach:NeedComms
2025-02-06T18:47:27.537Z,1738867647.537 [keepstation_approach:NeedComms:B.GoToSurface] Running Loop=1
2025-02-06T18:47:27.537Z,1738867647.537 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-06T18:47:27.538Z,1738867647.538 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-06T18:47:27.538Z,1738867647.538 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-06T18:47:27.538Z,1738867647.538 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-06T18:47:27.539Z,1738867647.539 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-06T18:47:27.539Z,1738867647.539 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-06T18:47:27.539Z,1738867647.539 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-06T18:47:27.540Z,1738867647.540 [keepstation_approach:NeedComms:A] Running Loop=1
2025-02-06T18:47:27.541Z,1738867647.541 [keepstation_approach:NeedComms:A](INFO): last time_fix was:  1738867640.000000 second since 1970/01/01T00:00:00Z 
2025-02-06T18:47:27.541Z,1738867647.541 [keepstation_approach:NeedComms:A] Stopped
2025-02-06T18:47:28.001Z,1738867648.001 [keepstation_approach:NeedComms:C] Running Loop=1
2025-02-06T18:47:29.201Z,1738867649.201 [Power24vConverter](INFO): Powering down.
2025-02-06T18:47:39.302Z,1738867659.302 [NAL9602](INFO): SBD MO Status=0, MOMSN=12615, MT Status=0, MTMSN=0
2025-02-06T18:47:39.302Z,1738867659.302 [NAL9602](INFO): No messages in MT queue
2025-02-06T18:47:40.510Z,1738867660.510 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184739.00,A,3648.23369,N,12150.58150,W,0.972,322.44,060225,,,A*7A
2025-02-06T18:47:40.513Z,1738867660.513 [NAL9602](INFO): GPS fix at 20250206T184739: (36.803895, -121.843025)
2025-02-06T18:47:40.528Z,1738867660.528 [keepstation_approach:NeedComms:C] Stopped
2025-02-06T18:47:40.528Z,1738867660.528 [keepstation_approach:NeedComms:D] Running Loop=1
2025-02-06T18:47:47.831Z,1738867667.831 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250206T183702/Courier0019.lzma
2025-02-06T18:47:48.833Z,1738867668.833 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Courier0019.lzma.bak
2025-02-06T18:47:48.833Z,1738867668.833 [DataOverHttps](INFO): SBD MOMSN=23960424
2025-02-06T18:48:04.887Z,1738867684.887 [DataOverHttps](INFO): Sending 244 bytes from file Logs/20250206T183702/Express0020.lzma
2025-02-06T18:48:05.889Z,1738867685.889 [DataOverHttps](INFO): Moved sent file to Logs/20250206T183702/Express0020.lzma.bak
2025-02-06T18:48:05.889Z,1738867685.889 [DataOverHttps](INFO): SBD MOMSN=23960428
2025-02-06T18:48:07.240Z,1738867687.240 [keepstation_approach:NeedComms:D] Stopped
2025-02-06T18:48:07.242Z,1738867687.242 [keepstation_approach:NeedComms:E] Running Loop=1
2025-02-06T18:48:09.231Z,1738867689.231 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184808.00,A,3648.23771,N,12150.58470,W,0.078,306.35,060225,,,A*7E
2025-02-06T18:48:09.233Z,1738867689.233 [NAL9602](INFO): GPS fix at 20250206T184808: (36.803962, -121.843078)
2025-02-06T18:48:09.292Z,1738867689.292 [keepstation_approach:NeedComms:E] Stopped
2025-02-06T18:48:09.293Z,1738867689.293 [keepstation_approach:NeedComms](INFO): Completed keepstation_approach:NeedComms
2025-02-06T18:48:09.293Z,1738867689.293 [keepstation_approach:NeedComms] Stopped
2025-02-06T18:48:09.293Z,1738867689.293 [keepstation_approach:NeedComms](DEBUG): Aggregate::uninitialize keepstation_approach:NeedComms
2025-02-06T18:48:09.293Z,1738867689.293 [keepstation_approach:NeedComms:B.GoToSurface] Stopped
2025-02-06T18:48:09.293Z,1738867689.293 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-06T18:48:09.669Z,1738867689.669 [keepstation_approach:SurfaceComms:B](INFO): Completed keepstation_approach:SurfaceComms:B
2025-02-06T18:48:09.669Z,1738867689.669 [keepstation_approach:SurfaceComms:B] Stopped
2025-02-06T18:48:09.669Z,1738867689.669 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms:B
2025-02-06T18:48:09.669Z,1738867689.669 [keepstation_approach:SurfaceComms:C] Running Loop=1
2025-02-06T18:48:10.063Z,1738867690.063 [keepstation_approach:SurfaceComms:C] Stopped
2025-02-06T18:48:10.067Z,1738867690.067 [keepstation_approach:SurfaceComms](INFO): Completed keepstation_approach:SurfaceComms
2025-02-06T18:48:10.067Z,1738867690.067 [keepstation_approach:SurfaceComms] Stopped
2025-02-06T18:48:10.067Z,1738867690.067 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms
2025-02-06T18:48:10.480Z,1738867690.480 [keepstation_approach:OnStation](INFO): Completed keepstation_approach:OnStation
2025-02-06T18:48:10.480Z,1738867690.480 [keepstation_approach:OnStation] Stopped
2025-02-06T18:48:10.480Z,1738867690.480 [keepstation_approach:OnStation](DEBUG): Aggregate::uninitialize keepstation_approach:OnStation
2025-02-06T18:48:10.480Z,1738867690.480 [keepstation_approach:Station] Running Loop=1
2025-02-06T18:48:10.481Z,1738867690.481 [keepstation_approach:Station](DEBUG): Aggregate::initialize keepstation_approach:Station
2025-02-06T18:48:10.481Z,1738867690.481 [keepstation_approach:Station:Dive] Running Loop=1
2025-02-06T18:48:10.481Z,1738867690.481 [keepstation_approach:Station:Dive](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive
2025-02-06T18:48:10.481Z,1738867690.481 [keepstation_approach:Station:Dive:A] Running Loop=1
2025-02-06T18:48:10.481Z,1738867690.481 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive:A
2025-02-06T18:48:10.481Z,1738867690.481 [keepstation_approach:Station:B.Wait] Running Loop=1
2025-02-06T18:48:10.481Z,1738867690.481 [keepstation_approach:Station:B.Wait](DEBUG): Initialize Wait Component.
2025-02-06T18:48:10.892Z,1738867690.892 [keepstation_approach:Station:Dive] Running Loop=1
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd] Running Loop=1
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd:InitialDive] Running Loop=1
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd:InitialDive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Running Loop=1
2025-02-06T18:48:10.893Z,1738867690.893 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Initialize.
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Initialize.
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Initialize.
2025-02-06T18:48:10.894Z,1738867690.894 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-02-06T18:48:10.895Z,1738867690.895 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-06T18:48:10.895Z,1738867690.895 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-06T18:48:10.895Z,1738867690.895 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-06T18:48:10.895Z,1738867690.895 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-06T18:48:10.895Z,1738867690.895 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-06T18:48:10.895Z,1738867690.895 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-06T18:48:10.895Z,1738867690.895 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Initialize.
2025-02-06T18:48:10.903Z,1738867690.903 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-06T18:48:10.904Z,1738867690.904 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-06T18:48:10.904Z,1738867690.904 [keepstation_approach:DiveCmd:MaintainDepth] Stopped
2025-02-06T18:48:10.904Z,1738867690.904 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-06T18:48:10.904Z,1738867690.904 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:SettleAtDepth] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Uninitialize.
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Stopped
2025-02-06T18:48:10.905Z,1738867690.905 [keepstation_approach:DiveCmd:InitialDive] Running Loop=1
2025-02-06T18:48:10.906Z,1738867690.906 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Running Loop=1
2025-02-06T18:48:10.906Z,1738867690.906 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-06T18:48:10.906Z,1738867690.906 [keepstation_approach:DiveCmd:InitialDive:dive:A](IMPORTANT): Moving to  29.000000 m 
2025-02-06T18:48:10.907Z,1738867690.907 [keepstation_approach:DiveCmd:InitialDive:dive:A] Stopped
2025-02-06T18:48:10.907Z,1738867690.907 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Running Loop=1
2025-02-06T18:48:10.907Z,1738867690.907 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch](DEBUG): Initialize.
2025-02-06T18:48:41.584Z,1738867721.584 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-06T18:49:38.416Z,1738867778.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T18:49:49.959Z,1738867789.959 [Radio_Surface](INFO): Powering down
2025-02-06T18:50:09.540Z,1738867809.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T18:50:10.544Z,1738867810.544 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-06T18:51:26.074Z,1738867886.074 [keepstation_approach:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1934
2025-02-06T18:51:46.932Z,1738867906.932 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.719467
2025-02-06T18:53:03.813Z,1738867983.813 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Stopped
2025-02-06T18:53:03.814Z,1738867983.814 [keepstation_approach:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-06T18:53:04.200Z,1738867984.200 [keepstation_approach:DiveCmd:InitialDive:dive:E] Stopped
2025-02-06T18:53:04.200Z,1738867984.200 [keepstation_approach:DiveCmd:InitialDive:dive](INFO): Completed keepstation_approach:DiveCmd:InitialDive:dive
2025-02-06T18:53:04.200Z,1738867984.200 [keepstation_approach:DiveCmd:InitialDive:dive] Stopped
2025-02-06T18:53:04.200Z,1738867984.200 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-06T18:53:04.200Z,1738867984.200 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-06T18:53:04.200Z,1738867984.200 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-06T18:53:04.201Z,1738867984.201 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Stopped
2025-02-06T18:53:04.201Z,1738867984.201 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-02-06T18:53:04.201Z,1738867984.201 [keepstation_approach:DiveCmd:InitialDive](INFO): Completed keepstation_approach:DiveCmd:InitialDive
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Initialize.
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Initialize.
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-02-06T18:53:04.601Z,1738867984.601 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-06T18:53:04.602Z,1738867984.602 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-06T18:53:04.602Z,1738867984.602 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-06T18:53:04.603Z,1738867984.603 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  29.000000 m , settling for  5.000000 min 
2025-02-06T18:53:04.603Z,1738867984.603 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-02-06T18:53:04.603Z,1738867984.603 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Running Loop=1
2025-02-06T18:53:04.603Z,1738867984.603 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-06T18:58:05.177Z,1738868285.177 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](INFO): Done Waiting.
2025-02-06T18:58:05.177Z,1738868285.177 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Stopped
2025-02-06T18:58:05.177Z,1738868285.177 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-06T18:58:05.178Z,1738868285.178 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Running Loop=1
2025-02-06T18:58:05.592Z,1738868285.592 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Stopped
2025-02-06T18:58:05.593Z,1738868285.593 [keepstation_approach:DiveCmd:SettleAtDepth:dive](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-06T18:58:05.593Z,1738868285.593 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Stopped
2025-02-06T18:58:05.593Z,1738868285.593 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-06T18:58:05.593Z,1738868285.593 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Stopped
2025-02-06T18:58:05.593Z,1738868285.593 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Uninitialize.
2025-02-06T18:58:05.593Z,1738868285.593 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Stopped
2025-02-06T18:58:05.593Z,1738868285.593 [keepstation_approach:DiveCmd:SettleAtDepth](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth
2025-02-06T18:58:05.989Z,1738868285.989 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-06T18:58:05.989Z,1738868285.989 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-06T18:58:05.989Z,1738868285.989 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Initialize.
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-06T18:58:05.990Z,1738868285.990 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-06T18:58:06.023Z,1738868286.023 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-06T18:58:06.024Z,1738868286.024 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-06T19:00:16.871Z,1738868416.871 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-06T19:08:28.536Z,1738868908.536 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-06T19:08:28.537Z,1738868908.537 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-02-06T19:08:28.540Z,1738868908.540 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-02-06T19:18:09.516Z,1738869489.516 [keepstation_approach:SurfaceComms] Running Loop=1
2025-02-06T19:18:09.516Z,1738869489.516 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms
2025-02-06T19:18:09.516Z,1738869489.516 [keepstation_approach:SurfaceComms:A] Running Loop=1
2025-02-06T19:18:09.517Z,1738869489.517 [keepstation_approach:SurfaceComms:A] Stopped
2025-02-06T19:18:09.517Z,1738869489.517 [keepstation_approach:SurfaceComms:B] Running Loop=1
2025-02-06T19:18:09.517Z,1738869489.517 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms:B
2025-02-06T19:18:09.902Z,1738869489.902 [keepstation_approach:Station:Dive] Stopped
2025-02-06T19:18:09.903Z,1738869489.903 [keepstation_approach:Station:Dive](DEBUG): Aggregate::uninitialize keepstation_approach:Station:Dive
2025-02-06T19:18:09.903Z,1738869489.903 [keepstation_approach:Station:Dive:A] Stopped
2025-02-06T19:18:09.903Z,1738869489.903 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::uninitialize keepstation_approach:Station:Dive:A
2025-02-06T19:18:09.903Z,1738869489.903 [keepstation_approach:DiveCmd:MaintainDepth] Stopped
2025-02-06T19:18:09.904Z,1738869489.904 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-06T19:18:09.904Z,1738869489.904 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Stopped
2025-02-06T19:18:09.904Z,1738869489.904 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-06T19:18:09.904Z,1738869489.904 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Stopped
2025-02-06T19:18:09.904Z,1738869489.904 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Stopped
2025-02-06T19:18:09.904Z,1738869489.904 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Stopped
2025-02-06T19:18:09.904Z,1738869489.904 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-06T19:18:09.908Z,1738869489.908 [keepstation_approach:NeedComms] Running Loop=1
2025-02-06T19:18:09.908Z,1738869489.908 [keepstation_approach:NeedComms](DEBUG): Aggregate::initialize keepstation_approach:NeedComms
2025-02-06T19:18:09.908Z,1738869489.908 [keepstation_approach:NeedComms:B.GoToSurface] Running Loop=1
2025-02-06T19:18:09.908Z,1738869489.908 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-06T19:18:09.909Z,1738869489.909 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-06T19:18:09.909Z,1738869489.909 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-06T19:18:09.909Z,1738869489.909 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-06T19:18:09.910Z,1738869489.910 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-06T19:18:09.910Z,1738869489.910 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-06T19:18:09.910Z,1738869489.910 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-06T19:18:09.911Z,1738869489.911 [keepstation_approach:NeedComms:A] Running Loop=1
2025-02-06T19:18:09.912Z,1738869489.912 [keepstation_approach:NeedComms:A](INFO): last time_fix was:  1738867688.000000 second since 1970/01/01T00:00:00Z 
2025-02-06T19:18:09.913Z,1738869489.913 [keepstation_approach:NeedComms:A] Stopped
2025-02-06T19:19:34.161Z,1738869574.161 [keepstation_approach:NeedComms:C] Running Loop=1
2025-02-06T19:19:34.888Z,1738869574.888 [Radio_Surface](INFO): Powering up
2025-02-06T19:19:40.856Z,1738869580.856 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-06T19:20:10.976Z,1738869610.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T19:20:42.104Z,1738869642.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T19:21:08.301Z,1738869668.301 [NAL9602](INFO): SBD MO Status=0, MOMSN=12616, MT Status=0, MTMSN=0
2025-02-06T19:21:08.302Z,1738869668.302 [NAL9602](INFO): No messages in MT queue
2025-02-06T19:21:09.518Z,1738869669.518 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192107.00,A,3648.27142,N,12150.51978,W,1.069,356.78,060225,,,A*7C
2025-02-06T19:21:09.535Z,1738869669.535 [NAL9602](INFO): GPS fix at 20250206T192107: (36.804524, -121.841996)
2025-02-06T19:21:09.548Z,1738869669.548 [keepstation_approach:NeedComms:C] Stopped
2025-02-06T19:21:09.549Z,1738869669.549 [keepstation_approach:NeedComms:D] Running Loop=1
2025-02-06T19:21:13.228Z,1738869673.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T19:21:20.894Z,1738869680.894 [NAL9602](INFO): SBD MO Status=1, MOMSN=12617, MT Status=0, MTMSN=0
2025-02-06T19:21:20.948Z,1738869680.948 [NAL9602](INFO): Sent 203 bytes from file Logs/20250206T183702/Courier0022.lzma
2025-02-06T19:21:20.948Z,1738869680.948 [NAL9602](INFO): Packets left to send: 0
2025-02-06T19:21:33.889Z,1738869693.889 [NAL9602](INFO): SBD MO Status=1, MOMSN=12618, MT Status=0, MTMSN=0
2025-02-06T19:21:33.952Z,1738869693.952 [NAL9602](INFO): Sent 266 bytes from file Logs/20250206T183702/Express0023.lzma
2025-02-06T19:21:33.952Z,1738869693.952 [NAL9602](INFO): Packets left to send: 0
2025-02-06T19:21:44.372Z,1738869704.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T19:21:45.614Z,1738869705.614 [NAL9602](INFO): SBD MO Status=0, MOMSN=12619, MT Status=0, MTMSN=0
2025-02-06T19:21:45.688Z,1738869705.688 [keepstation_approach:NeedComms:D] Stopped
2025-02-06T19:21:45.689Z,1738869705.689 [keepstation_approach:NeedComms:E] Running Loop=1
2025-02-06T19:21:48.030Z,1738869708.030 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192146.00,A,3648.27593,N,12150.52237,W,0.350,343.94,060225,,,A*7C
2025-02-06T19:21:48.032Z,1738869708.032 [NAL9602](INFO): GPS fix at 20250206T192146: (36.804599, -121.842039)
2025-02-06T19:21:48.092Z,1738869708.092 [keepstation_approach:NeedComms:E] Stopped
2025-02-06T19:21:48.093Z,1738869708.093 [keepstation_approach:NeedComms](INFO): Completed keepstation_approach:NeedComms
2025-02-06T19:21:48.093Z,1738869708.093 [keepstation_approach:NeedComms] Stopped
2025-02-06T19:21:48.093Z,1738869708.093 [keepstation_approach:NeedComms](DEBUG): Aggregate::uninitialize keepstation_approach:NeedComms
2025-02-06T19:21:48.093Z,1738869708.093 [keepstation_approach:NeedComms:B.GoToSurface] Stopped
2025-02-06T19:21:48.093Z,1738869708.093 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-06T19:21:48.484Z,1738869708.484 [keepstation_approach:SurfaceComms:B](INFO): Completed keepstation_approach:SurfaceComms:B
2025-02-06T19:21:48.484Z,1738869708.484 [keepstation_approach:SurfaceComms:B] Stopped
2025-02-06T19:21:48.484Z,1738869708.484 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms:B
2025-02-06T19:21:48.485Z,1738869708.485 [keepstation_approach:SurfaceComms:C] Running Loop=1
2025-02-06T19:21:48.861Z,1738869708.861 [keepstation_approach:SurfaceComms:C] Stopped
2025-02-06T19:21:48.862Z,1738869708.862 [keepstation_approach:SurfaceComms](INFO): Completed keepstation_approach:SurfaceComms
2025-02-06T19:21:48.862Z,1738869708.862 [keepstation_approach:SurfaceComms] Stopped
2025-02-06T19:21:48.862Z,1738869708.862 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms
2025-02-06T19:21:49.273Z,1738869709.273 [keepstation_approach:Station:Dive] Running Loop=1
2025-02-06T19:21:49.273Z,1738869709.273 [keepstation_approach:Station:Dive](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive
2025-02-06T19:21:49.273Z,1738869709.273 [keepstation_approach:Station:Dive:A] Running Loop=1
2025-02-06T19:21:49.273Z,1738869709.273 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive:A
2025-02-06T19:21:49.273Z,1738869709.273 [keepstation_approach:DiveCmd:InitialDive] Running Loop=1
2025-02-06T19:21:49.273Z,1738869709.273 [keepstation_approach:DiveCmd:InitialDive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive
2025-02-06T19:21:49.274Z,1738869709.274 [keepstation_approach:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-06T19:21:49.274Z,1738869709.274 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-06T19:21:49.274Z,1738869709.274 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-06T19:21:49.274Z,1738869709.274 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-06T19:21:49.274Z,1738869709.274 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Running Loop=1
2025-02-06T19:21:49.274Z,1738869709.274 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Initialize.
2025-02-06T19:21:49.274Z,1738869709.274 [keepstation_approach:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-02-06T19:21:49.275Z,1738869709.275 [keepstation_approach:DiveCmd:InitialDive:dive:A](IMPORTANT): Moving to  29.000000 m 
2025-02-06T19:21:49.275Z,1738869709.275 [keepstation_approach:DiveCmd:InitialDive:dive:A] Stopped
2025-02-06T19:21:49.275Z,1738869709.275 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Running Loop=1
2025-02-06T19:21:49.275Z,1738869709.275 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch](DEBUG): Initialize.
2025-02-06T19:21:52.988Z,1738869712.988 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003632
2025-02-06T19:22:11.100Z,1738869731.100 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 10.25 mm (1 active estimators).
2025-02-06T19:22:20.375Z,1738869740.375 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-06T19:22:46.200Z,1738869766.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T19:23:11.444Z,1738869791.444 [Radio_Surface](INFO): Powering down
2025-02-06T19:23:17.324Z,1738869797.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T19:23:18.328Z,1738869798.328 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-06T19:24:53.712Z,1738869893.712 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727081
2025-02-06T19:26:34.505Z,1738869994.505 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Stopped
2025-02-06T19:26:34.506Z,1738869994.506 [keepstation_approach:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-06T19:26:34.912Z,1738869994.912 [keepstation_approach:DiveCmd:InitialDive:dive:E] Stopped
2025-02-06T19:26:34.913Z,1738869994.913 [keepstation_approach:DiveCmd:InitialDive:dive](INFO): Completed keepstation_approach:DiveCmd:InitialDive:dive
2025-02-06T19:26:34.913Z,1738869994.913 [keepstation_approach:DiveCmd:InitialDive:dive] Stopped
2025-02-06T19:26:34.913Z,1738869994.913 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-06T19:26:34.913Z,1738869994.913 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-06T19:26:34.913Z,1738869994.913 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-06T19:26:34.913Z,1738869994.913 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Stopped
2025-02-06T19:26:34.913Z,1738869994.913 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-02-06T19:26:34.913Z,1738869994.913 [keepstation_approach:DiveCmd:InitialDive](INFO): Completed keepstation_approach:DiveCmd:InitialDive
2025-02-06T19:26:35.324Z,1738869995.324 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-06T19:26:35.324Z,1738869995.324 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-06T19:26:35.324Z,1738869995.324 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-02-06T19:26:35.324Z,1738869995.324 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-06T19:26:35.324Z,1738869995.324 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-06T19:26:35.324Z,1738869995.324 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Initialize.
2025-02-06T19:26:35.324Z,1738869995.324 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-06T19:26:35.325Z,1738869995.325 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Initialize.
2025-02-06T19:26:35.325Z,1738869995.325 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-02-06T19:26:35.326Z,1738869995.326 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  29.000000 m , settling for  5.000000 min 
2025-02-06T19:26:35.326Z,1738869995.326 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-02-06T19:26:35.326Z,1738869995.326 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Running Loop=1
2025-02-06T19:26:35.326Z,1738869995.326 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-06T19:31:35.892Z,1738870295.892 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](INFO): Done Waiting.
2025-02-06T19:31:35.892Z,1738870295.892 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Stopped
2025-02-06T19:31:35.892Z,1738870295.892 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-06T19:31:35.893Z,1738870295.893 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Running Loop=1
2025-02-06T19:31:36.299Z,1738870296.299 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Stopped
2025-02-06T19:31:36.300Z,1738870296.300 [keepstation_approach:DiveCmd:SettleAtDepth:dive](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-06T19:31:36.300Z,1738870296.300 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Stopped
2025-02-06T19:31:36.300Z,1738870296.300 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-06T19:31:36.300Z,1738870296.300 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Stopped
2025-02-06T19:31:36.300Z,1738870296.300 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Uninitialize.
2025-02-06T19:31:36.300Z,1738870296.300 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Stopped
2025-02-06T19:31:36.301Z,1738870296.301 [keepstation_approach:DiveCmd:SettleAtDepth](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Initialize.
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-06T19:31:36.701Z,1738870296.701 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Initialize KeepStationComponent.